基于晶格的人工内分泌系统模型及在多机器人系统中的应用

Lattice-based artificial endocrine system model and its application in robotic swarms

为了解决多机器人系统分布式控制问题,借鉴人体内分泌系统研究的理论成果,提出基于晶格的人工内分泌系统模型.该模型以环境晶格化为基础,以细胞智能化为依托,以累加激素为纽带,以靶细胞为导向,能够适应外环境的持续变化,保持内环境的相对稳定,充分体现人体内分泌系统的自组织和自修复特性.实验结果表明,无需复杂的集中控制策略,基于该人工内分泌系统模型的多机器人系统能够在未知或危险环境中执行搜索和捕获多目标的任务.

To solve the problem of controlling robot swarms in a distributed manner, we propose a novel latticebased artificial endocrine system （LAES） model, inspired by modern endocrinology theory. Based on a latticed environment, relying on cell intelligentization, connected by cumulative hormones, and directed by target cells, the LAES model can finally adapt to the continuous volatility of the external environment and maintain the relevant stability of the internal dynamics of the system, thus exhibiting the self-organizing and self-repairing features of the biological endocrine system. Experiments show that the LAES model enables a robotic swarm to search an unfamiliar space and seize multiple targets automatically without using unique global identifiers or a centralized control strategy for the individual robots.